Viewing IMU Data on Raspberry Pi

1. Connecting the Device

This tutorial uses a Raspberry Pi 5 motherboard and the official 64-bit image as an example.

Connect the IMU attitude sensor to the I2C port of the Raspberry Pi 5 as shown in the diagram below.

2. Check Device Status

First, install I2Ctool. Enter the following in the terminal:

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sudo apt-get update
sudo apt-get install -y i2c-tools
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Check I2C Devices

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sudo i2cdetect -y -r -a 1

3. Installing the Driver Library

3.1 Downloading the Python Driver Library File

The latest version of the driver library, named YbImuLib.zip, is provided in the data folder.

3.2 Transferring Files

Drag the driver library compressed file onto the Jetson desktop using WinSCP software.

The driver library file can be deleted after successful installation.

If you are unfamiliar with using WinSCP to transfer files, please refer to the following webpage for detailed WinSCP installation and operation instructions:

File Transfer

3.3 Installing Driver Libraries

Open the terminal on your Jetson Nano and enter the following command to extract the files.

Access the desktop and check if the file exists; the target file is highlighted in the red box.

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cd ~/Desktop && ls

Unzip the file

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unzip YbImuLib.zip

Enter the driver library folder

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cd YbImuLib

Run the installation command. If you see the installation version number displayed at the end, the installation was successful. This command will overwrite any previously installed Rosmaster_Lib driver library.

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sudo python3 setup.py install

Install required libraries

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sudo pip3 install pyserial
sudo pip3 install smbus2

4. View IMU data

Refer to 3.2 File Transfer, use WinSCP to transfer the YbImu_ReadData_I2C.py file to the Raspberry Pi 5, and then run the command

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python3 YbImu_ReadData_I2C.py

Note: The above data reads are from a 9-axis IMU. Data from the 6-axis IMU is not included (no magnetometer or barometer data). Data from the 9-axis IMU is not included (no barometer data).

5. Precautions

The I2C pins on the Raspberry Pi 5 need to be enabled beforehand.

To enable raspi, follow these steps:

Run the command in the terminal:

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sudo raspi-config

Use the arrow keys to select the desired option and press Enter.

Select I2C and press Enter.

After selecting I2C, press Enter, use the arrow keys to select Yes, and then press Enter to confirm.

Press Enter to confirm.

Use the arrow keys to select Finish, then press Enter to exit the configuration.